【Nav2】ROS2中使用robot_state_publisher发布松灵Scout mini的urdf

【背景】

本来打算把ROS1版本的松灵Scout mini 模型描述文件直接移植到ROS2的工作空间里去，用robot_state_publisher加载出来，结果行不通；于是找到了ROS2版本的Scout mini 模型描述，结果因为我用的是 Eloquent 版本，而他这urdf是基于Humble版本写的，用了一个 Launch.Command模块，而这个模块没找到办法安装，所以最后只有自己亲手改写了。

【效果一览】

 【系统环境】

Ubuntu18.04

ROS Eloquent

 【实现步骤】

话不多说，直接上干货，我这里不再解释为什么要这么迂回去实现这个！！！

1、首先去这个目录下建一个文件夹（如果没有这个目录，说明你没安装Turtlebot3仿真）

cd /opt/ros/eloquent/share/turtlebot3_description
sudo mkdir scout

2、然后把Scout mini官方的模型描述文件夹中的 meshes 文件夹拷进去

sudo cp -r ./meshes /opt/ros/eloquent/share/turtlebot3_description/scout

3、新建一个 scout_v2.urdf 描述文件，内容如下

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from scout_description/urdf/scout_v2_webots.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="scout_v2" xmlns:xacro="http://ros.org/wiki/xacro"><link name="base_footprint"/><joint name="base_joint" type="fixed"><parent link="base_footprint"/><child link="base_link" /><origin xyz="0 0 0.010" rpy="0 0 0"/></joint><!-- Base link --><link name="base_link"><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://turtlebot3_description/scout/meshes/base_link.dae"/></geometry></visual><collision><origin rpy="0 0 0" xyz="0 0 0.008"/><geometry><box size="0.925 0.38 0.21"/></geometry></collision><collision><origin rpy="0 0 0" xyz="0 0 0.035"/><geometry><box size="0.154166666667 0.627 0.07"/></geometry></collision><inertial><mass value="40"/><origin xyz="0.0 0.0 0.0"/><inertia ixx="2.288641" ixy="0" ixz="0" iyy="5.103976" iyz="0" izz="3.431465"/></inertial></link><link name="front_right_wheel_link"><inertial><mass value="3"/><origin xyz="0 0 0"/><inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/></inertial><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://turtlebot3_description/scout/meshes/wheel_type1.dae"/></geometry></visual><collision><origin rpy="1.570795 0 0" xyz="0 0 0"/><geometry><cylinder length="0.11653" radius="0.16459"/></geometry></collision></link><joint name="front_right_wheel" type="fixed"><parent link="base_link"/><child link="front_right_wheel_link"/><origin rpy="3.14 0 0" xyz="0.249 -0.29153 -0.0702"/><axis rpy="0 0 0" xyz="0 -1 0"/></joint><link name="front_left_wheel_link"><inertial><mass value="3"/><origin xyz="0 0 0"/><inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/></inertial><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://turtlebot3_description/scout/meshes/wheel_type2.dae"/></geometry></visual><collision><origin rpy="1.570795 0 0" xyz="0 0 0"/><geometry><cylinder length="0.11653" radius="0.16459"/></geometry></collision></link><joint name="front_left_wheel" type="fixed"><parent link="base_link"/><child link="front_left_wheel_link"/><origin rpy="0 0 0" xyz="0.249 0.29153 -0.0702"/><axis rpy="0 0 0" xyz="0 -1 0"/></joint><link name="rear_left_wheel_link"><inertial><mass value="3"/><origin xyz="0 0 0"/><inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/></inertial><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://turtlebot3_description/scout/meshes/wheel_type2.dae"/></geometry></visual><collision><origin rpy="1.570795 0 0" xyz="0 0 0"/><geometry><cylinder length="0.11653" radius="0.16459"/></geometry></collision></link><joint name="rear_left_wheel" type="fixed"><parent link="base_link"/><child link="rear_left_wheel_link"/><origin rpy="0 0 0" xyz="-0.249 0.29153 -0.0702"/><axis rpy="0 0 0" xyz="0 -1 0"/></joint><link name="rear_right_wheel_link"><inertial><mass value="3"/><origin xyz="0 0 0"/><inertia ixx="0.7171" ixy="0" ixz="0" iyy="0.1361" iyz="0" izz="0.7171"/></inertial><visual><origin rpy="0 0 0" xyz="0 0 0"/><geometry><mesh filename="package://turtlebot3_description/scout/meshes/wheel_type1.dae"/></geometry></visual><collision><origin rpy="1.570795 0 0" xyz="0 0 0"/><geometry><cylinder length="0.11653" radius="0.16459"/></geometry></collision></link><joint name="rear_right_wheel" type="fixed"><parent link="base_link"/><child link="rear_right_wheel_link"/><origin rpy="3.14 0 0" xyz="-0.249 -0.29153 -0.0702"/><axis rpy="0 0 0" xyz="0 -1 0"/></joint><!-- Robosense16 --><link name="laser"><visual><origin xyz="0.0 0.0 0.0" /><geometry><cylinder length="0.10" radius="0.03" /></geometry><material name="orange" /></visual></link><!-- IMU --><link name="imu"><visual><origin xyz="0.0 0.0 0.0" /><geometry><box size="0.06 0.04 0.02" /></geometry><material name="orange" /></visual></link><!--<link name="base_link" />--><joint name="laser_joint" type="fixed"><parent link="base_link" /><child link="laser" /><origin xyz="0.1 0.0 0.5" rpy="0 0 0" /></joint><joint name="imu_joint" type="fixed"><parent link="base_link" /><child link="imu" /><origin xyz="0 0 0" rpy="0 0 0" /></joint></robot>

4、把这个描述文件拷到下面这个目录

sudo cp ./scout_v2.urdf /opt/ros/eloquent/share/turtlebot3_description/urdf

5、然后在你的 launch 文件中这样写

    urdf = os.path.join(get_package_share_directory('turtlebot3_description'), 'urdf', 'scout_v2.urdf')start_robot_state_publisher_cmd = Node(condition=IfCondition(use_robot_state_pub),package='robot_state_publisher',node_executable='robot_state_publisher',node_name='robot_state_publisher',output='screen',parameters=[{'use_sim_time': use_sim_time}],use_remappings=IfCondition(use_remappings),remappings=remappings,arguments=[urdf])

6、成功在 RViz 中看到 Scout mini完整模型

【后言】

点个关注，不迷路！！！